Rod Stewart's Fiancée Gives Birth

Rod Stewart's fiancée, Penny Lancaster, has given birth to a baby boy, PEOPLE has learned.

The boy was born at 2:24 a.m. Sunday at St. John and St. Elizabeth Hospital in London and weighed in at 7 lbs. 7 oz., Stewart's publicist announced in a statement.

"Both Penny and our baby son are gorgeous, healthy and doing well," said Stewart, who was present for, and participated in, the natural birth. "I am so very proud of my girl Pen for the commitment, courage and strength she showed throughout."

Lancaster, a former model, added: "It means so much to Rod and I that we were able to keep to our birthing plan and have our baby naturally. It was the most empowering and spiritual experience of my life."

The pair, who have been together for nearly six years, are currently at home in Epping, England. "We are celebrating every moment with our beautiful boy, we just can't take our eyes off him," said Stewart.

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This is Lancaster's first child. Stewart has five children from previous relationships: Kimberly, 26 (who called off her brief engagement to Laguna Beach star Talan Torriero over the weekend), and Sean, 25, by first wife Alana Stewart; Ruby, 18, with former girlfriend Kelly Emberg; and Renee, 13, and Liam, 11, from his marriage to second wife Rachel Hunter.